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Positioning and designing method based on magnetic gradiometer array

A magnetic gradiometer and design method technology, applied in the field of magnetic positioning, can solve the problems of insufficient compensation of positioning blind zone error, insufficient positioning accuracy, etc., and achieve the effect of improving positioning accuracy

Active Publication Date: 2021-02-02
HARBIN INST OF TECH
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Problems solved by technology

[0010] The purpose of the present invention is to propose a positioning based on a magnetic gradiometer array and a design method thereof to solve the problems of positioning blind areas in the prior art tensor magnetic positioning method, insufficient error compensation for positioning blind areas, and insufficient positioning accuracy

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specific Embodiment

[0068]The prior art proposes the scalar triangulation and ranging (STAR) method based on the invariant of the magnetic gradient tensor, which can locate the magnetic target in real time and the positioning accuracy is not affected by the geomagnetic field. Take the STAR method as an example to illustrate the implementation of the present invention . The positioning error of the STAR method is mainly the aspheric error δ, and the mapping relationship between the aspheric error and the physical quantity is:

[0069]

[0070]It can be seen from formula (8) that the aspheric error δ has a linear relationship with the distance r, and the angleInto a non-linear relationship. Calculate the relative error percentage ω:

[0071]

[0072]Relative error percentage ω and physical quantityThe mapping relationship between is shown in 5, and it can be seen from the figure that whenorWhen, the relative error is the largest; whenororWhen there is no relative error. Therefore, in GA-BAA, the included angle is ca...

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Abstract

The invention discloses a positioning and designing method based on a magnetic gradiometer array, and belongs to the technical field of magnetic positioning. The positioning and designing method comprises the following steps of S000, designing a topological structure of the magnetic gradiometer array; S100, calculating magnetic gradient tensors G (i=1,2,...,N) at all magnetic gradiometer positionsaccording to a formula (1), wherein N is the number of magnetic gradiometers; S200, calculating the magnetic gradient tensors G (i=1,2,...,N) at all the magnetic gradiometer positions according to aformula (2); S300, obtaining an included angle capable of minimizing a positioning error according to mapping relationships between a positioning blind area and included angles; and S400, calculatinga position vector and a magnetic moment vector by utilizing the magnetic gradient tensor of the magnetic gradiometer numbered as j. According to the invention, based on a distribution rule of the positioning blind area, a method for changing the included angle through an array formed by a plurality of magnetic gradiometers so as to avoid the positioning blind area is provided, so that the positioning error of a tensor magnetic positioning method is greatly reduced.

Description

Technical field[0001]The invention relates to a positioning based on a magnetic gradiometer array and a design method thereof, belonging to the technical field of magnetic positioning.Background technique[0002]Magnetic positioning technology is a target positioning technology based on a magnetic field. It has the advantages of all-weather, fast speed and high accuracy. It has demonstrated its unique advantages and application prospects in many fields such as geophysics and biomedicine. When positioning and navigating surgical robots, compared to optical tracking, magnetic positioning technology is not affected by obstructions and has a lower cost. When tracking wireless capsule endoscopes, tongue movements, and magnetic drug markings, compared to radiated CT and expensive MRI, magnetic positioning technology is safer, cheaper and more efficient.[0003]When locating certain magnetic target characteristics (the magnetic moment direction of the magnetic target and the direction relative...

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Application Information

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IPC IPC(8): A61B34/20A61B5/06A61B1/04G01C21/00G01R33/022
CPCA61B1/00158A61B1/041A61B5/061A61B5/062A61B34/20A61B2034/2046A61B2034/2068G01C21/00G01R33/022
Inventor 林生鑫潘东华靳崇渝王矜婷李立毅
Owner HARBIN INST OF TECH
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